Add interactive calibration app

apps/interactive-calibration/calibPipeline.cpp

@@ -0,0 +1,91 @@
+#include "calibPipeline.hpp"
+#include <opencv2/highgui.hpp>
+#include <stdexcept>
+
+using namespace calib;
+
+#define CAP_DELAY 10
+
+cv::Size CalibPipeline::getCameraResolution()
+{
+    mCapture.set(cv::CAP_PROP_FRAME_WIDTH, 10000);
+    mCapture.set(cv::CAP_PROP_FRAME_HEIGHT, 10000);
+    int w = (int)mCapture.get(cv::CAP_PROP_FRAME_WIDTH);
+    int h = (int)mCapture.get(cv::CAP_PROP_FRAME_HEIGHT);
+    return cv::Size(w,h);
+}
+
+CalibPipeline::CalibPipeline(captureParameters params) :
+    mCaptureParams(params)
+{
+
+}
+
+PipelineExitStatus CalibPipeline::start(std::vector<cv::Ptr<FrameProcessor> > processors)
+{
+    if(mCaptureParams.source == Camera && !mCapture.isOpened())
+    {
+        mCapture.open(mCaptureParams.camID);
+        cv::Size maxRes = getCameraResolution();
+        cv::Size neededRes = mCaptureParams.cameraResolution;
+
+        if(maxRes.width < neededRes.width) {
+            double aR = (double)maxRes.width / maxRes.height;
+            mCapture.set(cv::CAP_PROP_FRAME_WIDTH, neededRes.width);
+            mCapture.set(cv::CAP_PROP_FRAME_HEIGHT, neededRes.width/aR);
+        }
+        else if(maxRes.height < neededRes.height) {
+            double aR = (double)maxRes.width / maxRes.height;
+            mCapture.set(cv::CAP_PROP_FRAME_HEIGHT, neededRes.height);
+            mCapture.set(cv::CAP_PROP_FRAME_WIDTH, neededRes.height*aR);
+        }
+        else {
+            mCapture.set(cv::CAP_PROP_FRAME_HEIGHT, neededRes.height);
+            mCapture.set(cv::CAP_PROP_FRAME_WIDTH, neededRes.width);
+        }
+        mCapture.set(cv::CAP_PROP_AUTOFOCUS, 0);
+    }
+    else if (mCaptureParams.source == File && !mCapture.isOpened())
+        mCapture.open(mCaptureParams.videoFileName);
+    mImageSize = cv::Size((int)mCapture.get(cv::CAP_PROP_FRAME_WIDTH), (int)mCapture.get(cv::CAP_PROP_FRAME_HEIGHT));
+
+    if(!mCapture.isOpened())
+        throw std::runtime_error("Unable to open video source");
+
+    cv::Mat frame, processedFrame;
+    while(mCapture.grab()) {
+        mCapture.retrieve(frame);
+        if(mCaptureParams.flipVertical)
+            cv::flip(frame, frame, -1);
+
+        frame.copyTo(processedFrame);
+        for (std::vector<cv::Ptr<FrameProcessor> >::iterator it = processors.begin(); it != processors.end(); ++it)
+            processedFrame = (*it)->processFrame(processedFrame);
+        cv::imshow(mainWindowName, processedFrame);
+        int key = cv::waitKey(CAP_DELAY);
+
+        if(key == 27) // esc
+            return Finished;
+        else if (key == 114) // r
+            return DeleteLastFrame;
+        else if (key == 100) // d
+            return DeleteAllFrames;
+        else if (key == 115) // s
+            return SaveCurrentData;
+        else if (key == 117) // u
+            return SwitchUndistort;
+        else if (key == 118) // v
+            return SwitchVisualisation;
+
+        for (std::vector<cv::Ptr<FrameProcessor> >::iterator it = processors.begin(); it != processors.end(); ++it)
+            if((*it)->isProcessed())
+                return Calibrate;
+    }
+
+    return Finished;
+}
+
+cv::Size CalibPipeline::getImageSize() const
+{
+    return mImageSize;
+}